-- Copyright Authors DustinKsi@ Youibot 2019. All Rights Reserved.
-- 
-- Licensed under the Apache License, Version 2.0 (the "License");
-- you may not use this file except in compliance with the License.
-- You may obtain a copy of the License at
-- 
-- http://www.apache.org/licenses/LICENSE-2.0
-- 
-- Unless required by applicable law or agreed to in writing, software
-- distributed under the License is distributed on an "AS IS" BASIS,
-- WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-- See the License for the specific language governing permissions and
-- limitations under the License.


FEATURE_MAPPING = {
    use_full_graph = true,
    use_graph_mst = false,

    load_map = true;
    map_filename = "/home/dexin/dustin_map.bin",

    distance_match_tolerance = 0.05,
    relocate_match_tolerance = 0.01,
    distance_ceil_threshold = 20.0,

    merge_distance = 0.5,
    id_diff_ceil_threshold = 4,
    init_edge_belief = 0.6,
}